System design consideration for digital wheelchair controller

The design and implementation of a digital wheelchair controller system is presented in this paper. This novel model depicts an information flow betwe en the driving commands and wheel speed. A command interpreter and two spee d processing datapaths are proposed as functionally independent blocks for the controller. The control process consists of the following steps: comman d decoding, speed estimation, and speed serving. Through proper partitionin g to concurrent blocks, the design complexity is reduced significantly. Blo ck reconfiguration for field-programmable gate array rapid prototyping is a lso employed in this paper, and system fidelity and development efficiency are revealed through the experimental results.